CN107552668A - A kind of double servo synchronization feeding mechanical hands of suspension type - Google Patents

Abstract

A suspended double-servo synchronous feeding manipulator, including a worktable on a press, a lifting device, an opening and closing device, a biaxial feeding device, a clamping component and an electrical control system; the lifting device includes a left and right lifting chassis, which are suspended and fastened On the workbench, the servo motor is installed on the left chassis, and is connected with the right chassis through the transmission shaft to realize the synchronous lifting of the left and right sides; the opening and closing device includes a servo motor, through the steering gear and the transmission shaft, the left and right positive and negative tooth ball wires are rotated The double-axis feeding shaft realizes the synchronous opening and closing of the double-axis feeding shaft; the double-axis feeding device includes a servo motor, a feeding shaft support seat, and a feeding shaft. The manipulator is moved, and the workpiece is sent from the previous process to the next process by the clamping component. The manipulator is controlled by the electrical control system to lift, open and close, and double-servo synchronous feeding, and is connected with the control system of the press to realize automatic punching. Practical Strong.

Description

A suspended double servo synchronous feeding manipulator

technical field

The invention belongs to the technical field of stamping automatic feeding of press machines, in particular to a suspended double-servo synchronous feeding manipulator.

Background technique

Stamping is the most widely used in metal forming. Different molds can be used for punching, bending, stretching, blanking, forming and other processes. Most workpieces need to go through multiple stamping processes to complete. At present, in multi-process stamping, multiple presses and multiple workers are used to operate, and each process is completed by manual feeding and retrieving. Therefore employ a lot of people, the production efficiency is low, and the work-related accidents that rush to the hands are prone to occur, which is very unsafe. Most of the existing loading and unloading manipulators are joint or swing arm feeding, which are only suitable for single punching, and the production efficiency is low, so further improvement is necessary.

Contents of the invention

The purpose of the present invention is to provide a suspension type dual-servo synchronous feeding manipulator with simple and reasonable structure, excellent performance, convenient operation, small volume, automatic continuous stamping, high production efficiency, safety and reliability, and capable of single-machine multi-point stamping, to overcome Weaknesses in the prior art.

A suspension type dual-servo synchronous feeding manipulator designed for this purpose, including a workbench on a press, a lifting device, an opening and closing device, a biaxial feeding device, a clamping assembly and an electrical control system, is characterized in that the lifting device includes at least Two lifting boxes, the two lifting boxes are respectively suspended and fastened on the left and right sides of the workbench; the left and right lifting platforms are respectively arranged on the two lifting boxes, and there are two opening and closing devices, which are respectively installed on the left and right lifting platforms on the shelf, and at least include the connecting plates on the left and right sides; the biaxial feeding device is provided with two connecting plates installed on the left and right sides respectively in front and back.

The lifting device includes a left and right lifting chassis, the left chassis is provided with a lifting servo motor, the lifting servo motor is connected with a planetary reducer, the planetary reducer is connected with a transmission shaft through a coupling, and is connected with the right chassis through the transmission shaft; The two ends of the transmission shaft are equipped with synchronous wheels, and the left and right elevator boxes are respectively provided with gear shafts, and the synchronous wheels are respectively driven and connected with the gear shafts in the left and right elevator boxes through the first synchronous belt; there are pinion racks on the gear shafts, And the rack is connected with the lift frame, the lift case is respectively provided with wire rails, and the left and right lift frames are installed on the wire rails of the lift case through the wire rail sliders respectively, and the lifting motion is realized by the drive of the gear shaft and the rack.

The opening and closing device is installed on the left and right lifting platforms, and includes an opening and closing servo motor. The opening and closing servo motor is arranged on the left lifting platform and is connected with a left steering gear. The shaft is connected with the right steering gear on the right lifting platform, and the left and right lifting platforms are also provided with positive and negative ball screws respectively. The left and right steering gears are respectively connected with the positive and negative ball screws. There are four nuts respectively, and two opening and closing linear guide rails are installed on the left and right lifting platforms in parallel with the positive and negative ball screws. plate, and are respectively connected with four nuts on the ball screw with positive and negative teeth, and the connecting plates on the left and right sides realize the opening and closing movement with the rotation of the ball screw with positive and negative teeth.

The biaxial feeding device includes two feeding servo motors, two feeding shafts and two feeding shaft support seats, and the two feeding servo motors are respectively connected with planetary reducers, which are respectively installed on the two feeding shaft support seats. The second synchronous belt pulley is respectively installed on the shaft end of each planetary reducer, the feeding linear guide rail is respectively installed on the two feeding shafts, the sliders are respectively installed on the supporting seats of the two feeding shafts, and the two feeding shafts pass through the feeding linear guide rails respectively. It is connected with the sliders of the supporting seats of the two feeding shafts; the two feeding shafts are also equipped with adjusters respectively, one end of the second synchronous belt is fixed on the end of the feeding shaft through the adjuster, and the second synchronous belt is bypassed and installed on the half-feeding shaft The two idler pulleys and the motor synchronous pulley on the support seat are fixed on the other end of the feeding shaft; the two feeding servo motors synchronously rotate and drag the second synchronous belt, and drive the two feeding shafts to move synchronously left and right; The two feeding shaft support seats are respectively installed on the connecting plate of the opening and closing device, and the lifting, opening and closing, and left and right movement are realized through the lifting device and the opening and closing device.

There are several clamping components, which are fixedly arranged on the two feeding shafts corresponding to each other, and an elastic seat is also arranged on the clamping component of one of the feeding shafts.

The electrical control system includes a servo drive, PLC, and a human-machine interface; the PLC controls the lifting device, the opening and closing device, and the biaxial feeding device through the human-machine interface, so as to realize the lifting, opening and closing, and left-right synchronization of the two feeding axes feeding; and connected with the control system on the press to realize the automatic stamping operation of the press.

In the present invention, through the improvement of the above structure, the lifting device at least includes the left and right lifting boxes, the left and right lifting boxes are respectively hung and fastened on the left and right sides of the press workbench, the servo motor is installed on the left box, and connected with the right box through the transmission shaft, Realize synchronous lifting of the left and right sides; the opening and closing device includes at least the opening and closing servo motor, and through the cooperation of the steering gear and the transmission shaft, the two positive and negative tooth ball screws on the left and right are rotated, and the dual-axis feeding shaft is synchronously opened and closed through the transmission of the connecting plate ;The dual-axis feeding device includes at least two feeding servo motors, two feeding shaft support seats, and two feeding shafts. The two feeding shafts move left and right, and the workpiece is sent from the previous process to the next process by the clamping assembly installed on the two feeding shafts. At the same time, the manipulator is controlled by the electrical control system to lift, open and close, and double servo synchronous feeding. , and connected with the control system of the press to realize automatic stamping, which effectively improves work efficiency and does not require manual operation. Efficient, accurate, flexible, safe and effective completion of stamping operations, replacing traditional manual or semi-automatic processing methods, saving resources, greatly satisfying the connection use of various presses in the processing process, can save 50%-60 % of generated input. It has the characteristics of simple and reasonable structure, excellent performance, convenient operation, small volume, automatic continuous stamping, high production efficiency, safety and reliability, and can realize single-machine multi-point stamping, etc., and has strong practicability.

Description of drawings

Fig. 1 is a front view structural diagram of the first embodiment of the present invention.

Fig. 2 is a top view structural diagram of the first embodiment of the present invention.

Fig. 3 is a schematic side view structure diagram of the first embodiment of the present invention.

Fig. 4 is a structural schematic diagram of the lifting drive device according to the first embodiment of the present invention.

Fig. 5 is a front structural schematic view of the front and rear driving device according to the first embodiment of the present invention.

Fig. 6 is a schematic diagram of a side view of the front and rear driving device according to the first embodiment of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1-Fig. 6, this suspended double servo synchronous feeding manipulator includes the workbench 15 on the press machine, the lifting device, the opening and closing device, the biaxial feeding device, the clamping assembly 32 and the electrical control system, and the lifting device includes at least two A lift case 13, 13.1, two lift cases 13, 13.1 are respectively suspended and fastened on the left and right sides of the workbench 15; two lift cases 13, 13.1 are respectively provided with a left and right lift platform 6, 6.1, an opening and closing device There are two connecting plates 30 and 3.1 installed on the left and right lifting platforms 6 and 6.1 respectively, and at least two connecting plates 30 and 3.1 on the left and right sides; the biaxial feeding device is provided with two connecting plates 30 installed on the left and right sides respectively , 30.1 on.

Further, the lifting device includes left and right lifting chassis 13, 13.1, the left chassis 13 is provided with a lifting servo motor 1, the lifting servo motor 1 is connected with a planetary reducer 1.1, and the planetary reducer 1.1 is connected with a transmission shaft 14, And connect right chassis 13.1 by power transmission shaft 14; Described power transmission shaft 14 two ends are equipped with synchronous wheel 22,22.1, are respectively provided with gear shaft 24 in left and right elevator chassis 13,13.1, synchronous wheel 22,22.1 pass through the first synchronous wheel respectively. The belt 23 is drivingly connected with the gear shaft 24 in the left and right lifting cabinets 13, 13.1; the left and right lifting platforms 6, 6.1 are respectively provided with driving racks 18, 18.1, and are driven and connected with the gear shaft 24 through the racks 18, 18.1 , the lift case 13, 13.1 is respectively provided with line rails 20, 20.1, and the left and right lift platforms 6, 6.1 are installed on the line rails 20, 20.1 of the lift case 13, 13.1 through the line rail sliders respectively, and through the gear shaft 24 and the rack The drive of 18,18.1 realizes lifting motion.

Further speaking, the opening and closing device is installed on the left and right lifting platforms 6, 6.1, and includes an opening and closing servo motor 2. The opening and closing servo motor 2 is arranged on the left lifting platform 6, and is connected with a left steering gear 10. The device 10 is connected with a transmission shaft 12, and is connected with the right steering gear 10.1 on the right lifting platform 6.1 through the transmission shaft 12, and the left and right lifting platforms 6, 6.1 are also respectively provided with positive and negative tooth ball screw rods 8, 8.1, left and right The right steering gear 10, 10.1 is respectively connected with the positive and negative ball screw 8, 8.1, and there are four nuts 9 on the positive and negative ball screw 8, 8.1 respectively, and two opening and closing linear guide rails 7 are connected with the positive and negative ball screw 8 and 8.1 are installed in parallel on the left and right lifting platforms 6 and 6.1. There are four slide blocks 11 on the linear guide rail 7 respectively. Four nuts 9 on the tooth ball screw 8,8.1 are connected, and the connecting plates 30,30.1 on the left and right sides realize the opening and closing motion with the rotation of the positive and negative tooth ball screw 8,8.1.

Further, the biaxial feeding device includes two feeding servo motors 3, two feeding shafts 4 and two feeding shaft support seats 5, and the two feeding servo motors 3 are respectively installed on the two feeding shaft support seats 5, and Respectively connected with planetary reducer 3.1, the two feeding shafts 4 are respectively equipped with feeding linear guide rails 27, the two feeding shaft support seats 5 are respectively equipped with sliders 28, and the two feeding shafts 4 pass through the feeding linear guide rails 27 and the two feeding shafts respectively. The slider 28 of the feed shaft support seat 5 is connected; the two feed shafts 4 are also provided with an adjuster 31 respectively, and one end of the second synchronous belt 25 is fixed on the end of the feed shaft 4 through the adjuster 31, and the second synchronous belt 25 is wound. Through the two idler pulleys 26 and the motor synchronous pulley 29 installed on the feed shaft support seat 5, and fixed on the other end of the feed shaft 4; the two feed servo motors 3 synchronously rotate and drag the second synchronous belt 25 , and drive the two feed shafts 4 to move synchronously left and right; the two feed shaft support seats 5 are respectively installed on the connecting plates 30, 3.1 of the opening and closing device, and the lifting, opening and closing and opening and closing are realized by the lifting device and the opening and closing device Move left and right.

Furthermore, there are several clamping components 32 which are fixedly arranged on two feeding shafts 4 corresponding to each other, and the clamping component 32 of one feeding shaft 4 is also provided with an elastic seat 33 .

Furthermore, the electrical control system includes a servo drive, PLC, and a man-machine interface that are electrically connected to each other; the PLC controls the lifting device, the opening and closing device, and the biaxial feeding device through the man-machine interface to realize two feeding shafts 4 High-precision synchronous lifting, opening and closing, and left-right synchronous feeding; Among them, the press is also equipped with a control system, and the PLC controls the control system of the press through the man-machine interface to realize the automatic stamping operation of the press.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principle of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. a kind of double servo synchronization feeding mechanical hands of suspension type, including workbench (15), lowering or hoisting gear, folding dress on forcing press Put, twin shaft feed device, material folding component (32) and electric control system, it is characterised in that：Lowering or hoisting gear rises including at least two Cabinet (13) (13.1) is dropped, and two elevator cribs (13) (13.1) are hung and are fastened on the left and right sides of workbench (15) respectively； Be respectively arranged with left and right lift platform (6) (6.1) on two elevator cribs (13) (13.1), closing device be provided with two and It is separately mounted on left and right lift platform (6) (6.1), and including at least the connecting plate (30) (3.1) of the right and left；Twin shaft feeding Formula is arranged on the connecting plate (30) (30.1) of the right and left before and after device is provided with two and difference.

2. the double servo synchronization feeding mechanical hands of suspension type according to claim 1, it is characterised in that：The lowering or hoisting gear bag Left and right elevator crib (13) (13.1) is included, lift servo motor (1), lift servo motor (1) connection are provided with left cabinet (13) Planetary reducer (1.1) is connected to, planetary reducer (1.1) connects power transmission shaft (14) by shaft joint and passes through power transmission shaft (14) Connect right cabinet (13.1)；Described power transmission shaft (14) both ends are equipped with synchronizing wheel (22) (22.1), left and right elevator crib (13) (13.1) gear shaft (24) is respectively arranged with, synchronizing wheel (22) (22.1) is lifted by the first timing belt (23) and left and right respectively Gear shaft (24) drive connection in cabinet (13) (13.1)；Tooth is respectively arranged with described left and right lift platform (6) (6.1) Bar (18) (18.1), little gear and rack (18) (18.1) drive connection are respectively arranged with two gear shafts (24)；Lift Line rail (20) (20.1) is respectively arranged with case (13) (13.1), left and right lift platform (6) (6.1) is pacified by line rail sliding block respectively On the line rail (20) (20.1) of elevator crib (13) (13.1) and pass through the drive of gear shaft (24) and rack (18) (18.1) It is dynamic to realize elevating movement.

3. the double servo synchronization feeding mechanical hands of suspension type according to claim 2, it is characterised in that：The closing device peace Left lifting is arranged on left and right lift platform (6) (6.1), and including folding servomotor (2), folding servomotor (2) On stand (6) and connection has left steering device (10), and left steering device (10) connection has power transmission shaft (12) and by power transmission shaft (12) It is connected, is also respectively provided with left and right lift platform (6) (6.1) positive and negative with the right turn device (10.1) on right lifting platform (6.1) Tooth ball screw (8) (8.1), left and right steering gear (10) (10.1) is connected with positive and negative tooth ball screw (8) (8.1) respectively, positive and negative There are four nuts (9), two folding line slideways (7) and positive and negative tooth ball screw (8) on tooth ball screw (8) (8.1) respectively (8.1) it is installed in parallel on left and right lift platform (6) (6.1), there are four sliding blocks (11) on two line slideways (7) respectively, four Be respectively provided with individual sliding block (11) connecting plate (30) (30.1) of the right and left and respectively with positive and negative tooth ball screw (8) (8.1) On the connection of four nuts (9), the connecting plate (30) (30.1) of the right and left with positive and negative tooth ball screw (8) (8.1) rotation Realize open and close movement.

4. the double servo synchronization feeding mechanical hands of suspension type according to claim 3, it is characterised in that：The twin shaft feeding dress Put and include two feeding servomotors (3), two feed spools (4) and two feed spool fulcrum bearings (5), two feeding servo electricity Machine (3) is separately mounted on two feed spool fulcrum bearings (5) and connection has planetary reducer (3.1), two feed spools respectively (4) feeding line slideway (27) is separately installed with, is separately installed with sliding block (28) on two feed spool fulcrum bearings (5), two Feed spool (4) is connected by feeding line slideway (27) with the sliding block (28) of two feed spool fulcrum bearings (5) respectively；Two feedings Adjuster (31) is also respectively provided with axle (4), the second timing belt (25) one end is fixed on feed spool (4) by adjuster (31) On one end, the second timing belt (25) bypasses two idle pulleys (26) being arranged in feed spool fulcrum bearing (5) and motor synchronous belt wheel (29) and it is fixed on feed spool (4) other end；Described two feeding servomotor (3) synchronous axial systems dragging second is synchronous Band (25), and drive two feed spool (4) left and right to be synchronized with the movement；Two described feed spool fulcrum bearings (5) are attached separately to folding On the connecting plate (30) (3.1) of device, and lifting, folding and side-to-side movement are realized by lowering or hoisting gear and closing device.

5. the double servo synchronization feeding mechanical hands of suspension type according to claim 4, it is characterised in that：The material folding component (32) several are provided with and mutually corresponding is respectively fixedly disposed on two feed spools (4), wherein a feed spool (4) Material folding component (32) on be additionally provided with spring support (33).

6. the double servo synchronization feeding mechanical hands of suspension type according to claim 5, it is characterised in that：The electrical control system System includes servo-driver, PLC, man-computer interface；PLC is sent to lowering or hoisting gear, closing device and twin shaft respectively by man-computer interface Material device is controlled, to realize the lifting of two feed spools (4), folding and left and right high-precise synchronization feeding；And and forcing press Upper control system connection, realizes the automatic stamping operation of forcing press.